Considering the following state vector and covariance matrix (stochastic map) of an EKF-SLAM system:
the diagonal elements of the matrix are

Question

Considering the following state vector and covariance matrix (stochastic map) of an EKF-SLAM system:  
 the diagonal elements of the matrix are

Answer

robot pose covariance matrix and the covariance matrices of respective landmarks

Answer

robot pose covariance matrices in the consecutive time moments (along the trajectory)

Answer

cross-covariance matrices between the landmarks and the robot's pose

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